CN113281823A - Magnetometer detection device of underwater autonomous platform - Google Patents
Magnetometer detection device of underwater autonomous platform Download PDFInfo
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- CN113281823A CN113281823A CN202110505405.0A CN202110505405A CN113281823A CN 113281823 A CN113281823 A CN 113281823A CN 202110505405 A CN202110505405 A CN 202110505405A CN 113281823 A CN113281823 A CN 113281823A
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Abstract
The invention discloses a magnetometer detection device of an underwater autonomous platform, which comprises a plurality of magnetic sensor probes, a three-axis accelerometer, a current transformer, a pressure sensor, a low-noise high-precision AD sampling module, a synchronous data fusion module, an original data storage module, a magnetic compensation data storage module, a detection early warning control module, a target early warning information/cruise instruction sending module and an underwater platform control decision system, and is used for detecting a large-depth ocean.
Description
Technical Field
The invention relates to the field of magnetic field detection equipment, in particular to a magnetometer detection device of an underwater autonomous platform.
Background
With the continuous promotion of ocean strategy in China, ocean exploration begins to enter a large-depth sea area, such as the traitor's myriameter exploration, and the actual ocean exploration is more concentrated on kilometer-level exploration.
In the existing marine magnetic detection, a manned ship or an unmanned ship is mostly adopted, and a towed magnetometer structure is adopted, in the mode, because a magnetometer towing cable has buoyancy during underwater operation, the marine magnetometer cannot be submerged to a deeper sea area, and under a counterweight or a counterweight wing, the magnetometer towed body has the underwater depth of about 30m and cannot be submerged deeper; for a larger submergence depth, a flow guide device is generally arranged on a marine streamer, and a special winch is required to be arranged for receiving and releasing a towed magnetometer, so that a large-tonnage ship platform is required to be used as a support, and the whole system is huge and bulky.
Therefore, the existing marine magnetic surveying means and platforms are not suitable for large-depth marine exploration.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a magnetometer detection device of an underwater autonomous platform, which is used for detecting large-depth oceans.
In order to achieve the purpose, the magnetometer detection device of the underwater autonomous platform is characterized by comprising a plurality of magnetic sensor probes, a three-axis accelerometer, a current transformer, a pressure sensor, a low-noise high-precision AD sampling module, a synchronous data fusion module, an original data storage module, a magnetic compensation data storage module, a detection early warning control module, a target early warning information/cruise instruction sending module and an underwater platform control decision system, wherein the magnetic sensor probes, the three-axis accelerometer, the current transformer and the pressure sensor are all electrically connected with the low-noise high-precision AD sampling module, the low-noise high-precision AD sampling module converts analog signals collected by the magnetic sensor probes, the three-axis accelerometer, the current transformer and the pressure sensor into digital signals, the low-noise high-precision AD sampling module, The system comprises an underwater platform control decision system, an original data storage module, a synchronous data fusion module, a magnetic compensation module, a detection early warning control module, a target early warning information/cruise instruction sending module, a detection early warning control module and the underwater platform control decision system, wherein the synchronous data fusion module is used for simultaneously collecting underwater platform coordinate information of the underwater platform control decision system and information collected by a magnetic sensor probe, a three-axis accelerometer, a current transformer and a pressure sensor and storing the data into the original data storage module, the magnetic compensation module is electrically connected with the synchronous data fusion module, the magnetic compensation module is used for calibrating and compensating the synchronous data fusion module, the magnetic compensation module is electrically connected with the magnetic compensation data storage module and the detection early warning control module, the magnetic compensation data storage module is used for storing a magnetic field at a compensated target, the detection early warning control module is used for analyzing and processing the magnetic field information at the target, the identification and the positioning of the target and generating a control command, and the target early warning information/cruise instruction sending module, the detection early warning control module and the underwater platform control decision system And the target early warning information/cruise instruction sending module receives the control command generated by the detection early warning control module and sends the control command to the underwater platform control decision system.
Further, the magnetic compensation module includes a magnetic field data calibration module, an acceleration compensation module, and a current OBE compensation module.
Further, a current transformer collects current signals of the underwater platform, and software compensates the magnetic field of the current signals in the magnetic sensor probe.
Furthermore, the three-axis accelerometer acquires the vibration frequency and the acceleration component of the three-axis accelerometer, and the acceleration component is used for resolving the attitude of the underwater platform and is used as the attitude parameter of the magnetic compensation of the underwater platform.
Further, the pressure sensor collects the water depth of the magnetic sensor and is used for calculating the position of the magnetic sensor.
Further, the attitude parameters comprise roll angle, pitch angle and yaw angle, and the acceleration compensation module compensates a permanent field, an induction field and an eddy current field of the underwater platform by using a TOLLES-LAWSON equation.
Further, the magnetic sensor probe collects three orthogonal components of the geomagnetic field and calculates to obtain target position information.
Has the advantages that: the magnetic information of the underwater platform is acquired through the magnetic sensor probe, the three-axis accelerometer, the current transformer and the pressure sensor, the acquired signals are subjected to magnetic compensation through the magnetic compensation module, and finally the acquired signals are sent to the underwater platform again according to the information after the magnetic compensation, and the underwater platform is controlled to make a decision.
Drawings
The present invention will be further described and illustrated with reference to the following drawings.
Fig. 1 is a schematic diagram of an overall module of a preferred embodiment of the present invention.
Detailed Description
The technical solution of the present invention will be more clearly and completely explained by the description of the preferred embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, the magnetometer detection device of the underwater autonomous platform according to the preferred embodiment of the present invention includes a plurality of magnetic sensor probes, a three-axis accelerometer, a current transformer, a pressure sensor, a low-noise high-precision AD sampling module, a synchronous data fusion module, an original data storage module, a magnetic compensation data storage module, a detection early warning control module, a target early warning information/cruise instruction transmission module, and an underwater platform control decision system.
The system comprises a plurality of magnetic sensor probes, a triaxial accelerometer, a current transformer and a pressure sensor, wherein the magnetic sensor probes, the triaxial accelerometer, the current transformer and the pressure sensor are all electrically connected to a low-noise high-precision AD sampling module, the magnetic sensor probes detect magnetic field information at positions, the triaxial accelerometer carries out attitude calculation compensation and platform vibration noise compensation on an underwater platform control decision system, and the pressure sensor calculates the positions of the magnetic sensor probes and the position information of a measured target. And finally, each device transmits the electric signals to the low-noise high-precision AD sampling module, and the low-noise high-precision AD sampling module converts the analog signals into digital signals and analyzes the digital signals.
Specifically, the plurality of magnetic sensor probes detect orthogonal components of the geomagnetic field in three directions (x, y and z), the total magnetic field of the geomagnetic field can be solved by means of vector calculation according to the magnetic fields of the three orthogonal components, the magnetic change rates in the three directions can also be calculated according to the magnetic changes of the geomagnetic field in the three orthogonal components, the change rates of the two magnetic sensors in the three spatial directions form a magnetic field intensity matrix vector with 9 elements, and the target is identified by orthogonal basis function analysis to obtain the position information of the detected target. Meanwhile, a plurality of magnetic sensors can be combined into a gradient magnetometer for detecting the magnetic field information of the target to be detected, so that the detection efficiency and the target positioning precision are improved.
The three-axis accelerometer collects the vibration frequency of the three-axis accelerometer, the vibration frequency is far greater than the frequency of a target to be detected, and the same-frequency-band noise in the probe of the magnetic sensor is filtered by the digital filter. The motion distances of three axes are calculated according to time through three axial acceleration components output by the triaxial accelerometer, the direction cosine of the motion distance of any two axes is solved, the attitude parameters of roll angle, pitch angle and yaw angle can be obtained, the underwater platform is compensated through the self-adaptive automatic compensation technology through the TOLLES-LAWSON equation, and the permanent field, the induction field and the eddy current field of the underwater platform are compensated.
The current transformer collects current signals of the underwater platform, tests the magnetic field of the current signals in the probe of the magnetic sensor, establishes a model database, and queries the database when corresponding current is monitored in the working process, and subtracts the magnetic field in the current model database from the measured magnetic field to complete the OBE compensation (OBE compensation, namely magnetic interference compensation of the platform electronic equipment) of the data of the magnetic sensor by the current.
The pressure sensor is used for detecting the water depth of the magnetic sensor probe in real time, the water depth, the underwater platform position and the underwater platform posture of the magnetic sensor probe are known, the position of the magnetic sensor probe can be obtained through the cosine law, and the position information of the detected target can be obtained through the calculation of the vertical second derivative.
And the synchronism of the information acquired by each module is ensured. The synchronous data fusion module is electrically connected with the magnetic compensation module, the magnetic compensation module comprises a magnetic field data calibration module, an acceleration compensation module and a current OBE compensation module, signals collected by the low-noise high-precision AD sampling module are processed through the method respectively, and finally compensated data are generated and stored in a magnetic compensated data storage module electrically connected with the magnetic compensation module.
Meanwhile, the magnetic compensation module is electrically connected with the detection and early warning control module, the magnetic compensation module transmits magnetic field information after magnetic compensation to the detection and early warning control module, and the detection and early warning control module completes identification and positioning of a target and generates a control command.
The detection early warning control module is electrically connected with a target early warning information/cruise instruction sending module, instructions generated by the detection early warning control module can be transmitted in a long distance through the target early warning information/cruise instruction sending module, the target early warning information/cruise instruction sending module sends the instructions to an underwater platform control decision system, the underwater platform obtains the target early warning information, changes cruise information and the like, the underwater platform control decision system feeds the position of the underwater platform back to the data synchronization fusion module at any time, and an original data storage module connected with the data synchronization fusion module stores data collected by the data synchronization fusion module.
The method has the following specific advantages:
1. the multi-module combination can compensate the magnetic interference of the platform, and the system has higher magnetic anomaly resolution capability, so that higher target positioning precision and detection distance are obtained;
2. the system adopts the mode that the magnetic sensor is fixedly arranged on the underwater platform, can be conveniently applied to various underwater autonomous operation platforms, such as AUV/UUV/underwater vehicles, and the like, does not need to adopt the difficult problems of receiving, releasing and controlling caused by the traditional long-cable underwater dragging, and is easier to be practically applied and popularized;
3. the multi-module combination can realize automatic identification and early warning of underwater targets and make up for the defects of the current underwater early warning system;
4. the combination of multiple modules can solve the problem of high implementation difficulty of the current autonomous platform towing magnetic detection in a deep sea area;
5. the system can realize wider detection distance and real-time target positioning capability of single survey line, greatly improves the underwater detection efficiency, and greatly improves the detection simplicity, positioning accuracy and efficiency far beyond the existing dragging scheme.
The above detailed description merely describes preferred embodiments of the present invention and does not limit the scope of the invention. Without departing from the spirit and scope of the present invention, it should be understood that various changes, substitutions and alterations can be made herein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. The scope of the invention is defined by the claims.
Claims (7)
1. A magnetometer detection device of an underwater autonomous platform is characterized by comprising a plurality of magnetic sensor probes, a three-axis accelerometer, a current transformer, a pressure sensor, a low-noise high-precision AD sampling module, a synchronous data fusion module, an original data storage module, a magnetic compensation data storage module, a detection early warning control module, a target early warning information/cruise instruction sending module and an underwater platform control decision system,
the magnetic sensor probe, the triaxial accelerometer, the current transformer and the pressure sensor are all electrically connected with a low-noise high-precision AD sampling module, the low-noise high-precision AD sampling module converts analog signals collected by the magnetic sensor probe, the triaxial accelerometer, the current transformer and the pressure sensor into digital signals,
the low-noise high-precision AD sampling module, the underwater platform control decision system, the original data storage module and the synchronous data fusion module are electrically connected, the synchronous data fusion module simultaneously collects the underwater platform coordinate information of the underwater platform control decision system and the collected information of the magnetic sensor probe, the three-axis accelerometer, the current transformer and the pressure sensor and stores the data into the original data storage module,
the magnetic compensation module is electrically connected with the synchronous data fusion module and is used for calibrating and compensating the synchronous data fusion module,
the magnetic compensation module is electrically connected with the magnetic compensation data storage module and the detection early warning control module, the magnetic compensation data storage module stores the magnetic field of the compensated target, the detection early warning control module analyzes and processes the magnetic field information of the target, completes the identification and positioning of the target and generates a control command,
the target early warning information/cruise instruction sending module is electrically connected with the detection early warning control module and the underwater platform control decision system, and receives the control command generated by the detection early warning control module and sends the control command to the underwater platform control decision system.
2. The magnetometer detection device of an underwater autonomous platform of claim 1, wherein the magnetic compensation module comprises a magnetic field data calibration module, an acceleration compensation module, and a current OBE compensation module.
3. The magnetometer probe of claim 2 wherein the current transformer collects current signals from the underwater platform and the software compensates the current signals for the magnetic field at the magnetic sensor probe.
4. The magnetometer detection device of the underwater autonomous platform of claim 2 wherein the three-axis accelerometer collects vibration frequency and acceleration components of the three-axis accelerometer, the acceleration components being used to resolve the attitude of the underwater platform as attitude parameters for magnetic compensation of the underwater platform.
5. The magnetometer probe of claim 2, wherein the pressure sensor captures the water depth of the magnetic sensor for use in resolving the position of the magnetic sensor.
6. The magnetometer detection device of the underwater autonomous platform of claim 4 wherein the attitude parameters comprise roll angle, pitch angle, yaw angle, and the acceleration compensation module compensates the permanent field, the inductive field, and the eddy current field of the underwater platform using the TOLLES-LAWSON equation.
7. The magnetometer detection device of the underwater autonomous platform of claim 4, wherein the magnetic sensor probe collects three orthogonal components of the geomagnetic field and resolves to obtain target position information.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115906928A (en) * | 2022-11-25 | 2023-04-04 | 中国矿业大学 | Transformer UUV three-dimensional autonomous collision avoidance planning method based on double-channel self-attention |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115906928A (en) * | 2022-11-25 | 2023-04-04 | 中国矿业大学 | Transformer UUV three-dimensional autonomous collision avoidance planning method based on double-channel self-attention |
| CN115906928B (en) * | 2022-11-25 | 2023-05-16 | 中国矿业大学 | Two-channel self-attention-based transform UUV three-dimensional autonomous collision avoidance planning method |
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